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<?xml version="1.0" ?> |
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<robot name="bowl.urdf"> |
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<link name="baseLink"> |
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<contact> |
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<lateral_friction value="1.0"/> |
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<inertia_scaling value="3.0"/> |
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</contact> |
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<inertial> |
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<origin rpy="0 0 0" xyz="-0.025 0 0.02"/> |
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<mass value=".1"/> |
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured-0008192.obj" scale="1.25 1.25 0.25"/> |
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</geometry> |
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<material name="green"> |
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<color rgba="0.34901961 0.6627451 0.30980392 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="cup.obj" scale="1.25 1.25 0.25"/> |
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</geometry> |
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</collision> |
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</link> |
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</robot> |
